Note Viewer

• Inventoried the motor controllers that we have
  • 18 Victor SPs (which are now discontinued so we can't get any more of them...)
  • 2 Talon SRXs (+ 1 that is probably bad)
  • 5 Victor SPXs
• Determined what motor controllers we need for each mechanism (check the Electrical components spreadsheet in drive for a better description... FRC4096 --> 2018-2019 --> Build Season --> Electrical Folder --> Electrical Components)
  • Drivetrain: 6 Victor SPs
  • Hatch: 1 Talon SRX (or maybe can be Victor SPX once team decides to use integrated encoder w/ limit switches (SRX) or string potentiometer (SPX))
  • Climber: 2 Talon SRX for the ball screws (1 per axle) with integrated encoders AND 1 Victor SPX to run the back axle
  • Cargo: 1 Talon SRX for the arm with integrated encoder AND 1 Victor SPX to run the intake
• Ordered more Talon SRX --> still need to determine if we need more Victor SPX
• Crimped powerpole connectors and PWM connectors on all of the Victor SPs
• Continued to organized the electrical components to Comp Bot and Practice Bot
• Crimped ethernet cable (Thanks Nolan)
• AtlaZ roborio is now imaged, loaded with robotpy stuff, and the PDP and Talons have been flashed with latest firmware. Changes to the CAN config system this year are poorly documented.  For the record, the whole process goes something like this:
  • Install the FRC Update Suite for the new year
  • Use Roborio Imaging Tool to:
    • Update firmware on Roborio
    • Format it
    • Image it
  • Download & install PyFRC and Robotpy, plus any custom packages needed (ctre, pathfinder, etc)
  • From CTRE website:
    • Download CTRE Phoenix Framework (windows installer)
    • Download latest firmware for any Talons being used on robot, and the PDP
  • Run CTRE Phoenix Tuner from desktop shortcut. Use it to install the firmware you downloaded

• Struggled to crimp orange ethernet cable for like an hour
• General crimping abilites need improvement
• Changes to configuring CTRE/CAN devices - not my favorite thing right now.

1. Fix AtlaZ code for xbox controller, so it works with new robotpy class.
2. Finish imaging/setting up Poly with 2019 stuff
3. Changes to the CAN config system this year are poorly documented.
4. Vision
   • Drive robot towards vision target so the target is in view of limelight; then have robot drive to a specified distance and turn to a specified angle from the vision target (using a calibrated position and the tx & ty from the limelight)
   • Get Rotate_To_Angle_Limelight command working on Atlaz.  PID will need tuning.
   • Continue learning how to use limelight
     • Specifically learn what all of the different values on the network table are and how they can be used
     • Continue to look into the Limelight documentations
   • Go to specified range from target (check case studies on limelight website & documentation)
   • Go to specified range and aim at target (again check case studies)
5. Drivetrain code
6. Line Following
   • Mount the color sensor to Atlaz. Needs to be only a few centimeters away from floor, pointed at the carpet.
   • Determine what sensor object to use in code to get values from it.  It's an I2C device.
   • Would be used to follow the white tape that is centered coming out from the spots where hatch panels are placed
   • Ultimate question is - Should line following be used instead of limelight vision in some places? Together with limelight vision? Or not at all this year?

OTHER: 

• Talk to other subteams and drivers to determine what semi-autonomous controls are desired --> need list of everything we wish to accomplish and order of priorities --> this has been started, but more work is definitely needed
  • Will need to finalize these after designs are finalized but should start to get an idea now
  • Then figure out what the best ways are to implement them
  • Encoders? Gyros? Limit Switches? Vision? Line Following? etc. etc.
• Help other subteams

Yea, next we need to get drivetrain code done so it is ready to run the assembled drivetrain at the beginning of the next week. Also need to continue working on vision because that needs to get figured out soon.